Multi-rate H8 Control for Electro-Optical Tracking System Based on Internal Model Algorithm

2008 ◽  
Author(s):  
Li Kai ◽  
Wenbo Zhang ◽  
Huazheng Zhu
Keyword(s):  
Internal Model ◽  
Tracking System ◽  
Optical Tracking ◽  
Optical Tracking System ◽  
Model Algorithm

scholarly journals Development of Sliding Mode Controller Based on Internal Model Controller for Higher Precision Electro-Optical Tracking System

Actuators ◽  
2022 ◽  
Vol 11 (1) ◽  
pp. 16
Author(s):  
Bing Zhang ◽  
Kang Nie ◽  
Xinglong Chen ◽  
Yao Mao
Keyword(s):  
Internal Model ◽  
Sliding Mode ◽  
Tracking System ◽  
Internal Model Control ◽  
Optical Tracking ◽  
Tracking Accuracy ◽  
Optical Tracking System ◽  
Resistance Torque ◽  
Model Control ◽  
Strong Robustness

The electro-optical tracking system (ETS) on moving platforms is affected by the vibration of the moving carrier, the wind resistance torque in motion, the uncertainty of mechanisms and the nonlinear friction between frames and other disturbances, which may lead to the instability of the electro-optical tracking platform. Sliding mode control (SMC) has strong robustness to system disturbances and unknown dynamic external signals, which can enhance the disturbance suppression ability of ETSs. However, the strong robustness of SMC requires greater switching gain, which causes serious chattering. At the same time, the tracking accuracy of SMC has room for further improvement. Therefore, in order to solve the chattering problem of SMC and improve the tracking accuracy of SMC, an SMC controller based on internal model control (IMC) is proposed. Compared with traditional SMC, the proposed method can be used to suppress the strongest disturbance with the smallest switching gain, effectively solving the chattering problem of the SMC, while improving the tracking accuracy of the system. In addition, to reduce the adverse influence of sensor noise on the control effect, lifting wavelet threshold de-noising is introduced into the control structure to further improve the tracking accuracy of the system. The simulation and experimental results verify the superiority of the proposed control method.

scholarly journals In Vitro and In Vivo Assessment of a New Workflow for the Acquisition of Mandibular Kinematics Based on Portable Tracking System with Passive Optical Reflective Markers

2021 ◽  
Vol 11 (9) ◽  
pp. 3947
Author(s):  
Marco Farronato ◽  
Gianluca M. Tartaglia ◽  
Cinzia Maspero ◽  
Luigi M. Gallo ◽  
Vera Colombo
Keyword(s):  
Measurement Error ◽  
Tracking System ◽  
Intraclass Correlation ◽  
Optical Tracking ◽  
Optical Tracking System ◽  
Rater Reliability ◽  
Tracking Device ◽  
Mandibular Kinematics

Clinical use of portable optical tracking system in dentistry could improve the analysis of mandibular movements for diagnostic and therapeutic purposes. A new workflow for the acquisition of mandibular kinematics was developed. Reproducibility of measurements was tested in vitro and intra- and inter-rater repeatability were assessed in vivo in healthy volunteers. Prescribed repeated movements (n = 10) in three perpendicular directions of the tracking-device coordinate system were performed. Measurement error and coefficient of variation (CV) among repetitions were determined. Mandibular kinematics of maximum opening, left and right laterality, protrusion and retrusion of five healthy subjects were recorded in separate sessions by three different operators. Obtained records were blindly examined by three observers. Intraclass correlation coefficient (ICC) was calculated to estimate inter-rater and intra-rater reliability. Maximum in vitro measurement error was 0.54 mm and CV = 0.02. Overall, excellent intra-rater reliability (ICC > 0.90) for each variable, general excellent intra-rater reliability (ICC = 1.00) for all variables, and good reliability (ICC > 0.75) for inter-rater tests were obtained. A lower score was obtained for retrusion with “moderate reliability” (ICC = 0.557) in the inter-rater tests. Excellent repeatability and reliability in optical tracking of primary movements were observed using the tested portable tracking device and the developed workflow.

scholarly journals High Precision Optical Tracking System Based on near Infrared Trinocular Stereo Vision

Sensors ◽  
2021 ◽  
Vol 21 (7) ◽  
pp. 2528
Author(s):  
Songlin Bi ◽  
Yonggang Gu ◽  
Jiaqi Zou ◽  
Lianpo Wang ◽  
Chao Zhai ◽  
...  
Keyword(s):  
High Precision ◽  
Stereo Vision ◽  
Near Infrared ◽  
Nearest Neighbor ◽  
Tracking System ◽  
Optical Tracking ◽  
Tracking Accuracy ◽  
Optical Tracking System ◽  
Dynamic Tracking ◽  
Trinocular Stereo

A high precision optical tracking system (OTS) based on near infrared (NIR) trinocular stereo vision (TSV) is presented in this paper. Compared with the traditional OTS on the basis of binocular stereo vision (BSV), hardware and software are improved. In the hardware aspect, a NIR TSV platform is built, and a new active tool is designed. Imaging markers of the tool are uniform and complete with large measurement angle (>60°). In the software aspect, the deployment of extra camera brings high computational complexity. To reduce the computational burden, a fast nearest neighbor feature point extraction algorithm (FNNF) is proposed. The proposed method increases the speed of feature points extraction by hundreds of times over the traditional pixel-by-pixel searching method. The modified NIR multi-camera calibration method and 3D reconstruction algorithm further improve the tracking accuracy. Experimental results show that the calibration accuracy of the NIR camera can reach 0.02%, positioning accuracy of markers can reach 0.0240 mm, and dynamic tracking accuracy can reach 0.0938 mm. OTS can be adopted in high-precision dynamic tracking.

scholarly journals Skill Transference of a Probe-Tube Placement Training Simulator

2020 ◽  
Vol 31 (01) ◽  
pp. 040-049 ◽  
Author(s):  
Robert W. Koch ◽  
Hasan Saleh ◽  
Paula Folkeard ◽  
Sheila Moodie ◽  
Conner Janeteas ◽  
...  
Keyword(s):  
Mixed Model ◽  
Tracking System ◽  
Optical Tracking ◽  
Tube Placement ◽  
Control Group ◽  
Educational Settings ◽  
Training Simulator ◽  
Nonlinear Mixed Model ◽  
Optical Tracking System ◽  
Clinical Scenarios

AbstractProbe-tube placement is a necessary step in hearing aid verification which needs ample hands-on experience and confidence before performing in clinic. To improve the methods of training in probe-tube placement, a manikin-based training simulator was developed consisting of a 3D-printed head, a flexible silicone ear, and a mounted optical tracking system. The system is designed to provide feedback to the user on the depth and orientation of the probe tube, and the time required to finish the task. Although a previous validation study was performed to determine its realism and teachability with experts, further validation is required before implementation into educational settings.This study aimed to examine the skill transference of a newly updated probe-tube placement training simulator to determine if skills learned on this simulator successfully translate to clinical scenarios.All participants underwent a pretest in which they were evaluated while performing a probe-tube placement and real-ear-to-coupler difference (RECD) measurement on a volunteer. Participants were randomized into one of two groups: the simulator group or the control group. During a two-week training period, all participants practiced their probe-tube placement according to their randomly assigned group. After two weeks, each participant completed a probe-tube placement on the same volunteer as a posttest scenario.Twenty-five novice graduate-level student clinicians.Participants completed a self-efficacy questionnaire and an expert observer completed a questionnaire evaluating each participant’s performance during the pre- and posttest sessions. RECD measurements were taken after placing the probe tube and foam tip in the volunteer’s ear. Questionnaire results were analyzed through nonparametric t-tests and analysis of variance, whereas RECD results were analyzed using a nonlinear mixed model method.Results suggested students in the simulator group were less likely to contact the tympanic membrane when placing a probe tube, appeared more confident, and had better use of the occluding foam tip, resulting in more improved RECD measurements.The improved outcomes for trainees in the simulator group suggest that supplementing traditional training with the simulator provides useful benefits for the trainees, thereby encouraging its usage and implementation in educational settings.

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